A Joint Data Association Method for Laser-SLAM of Unmanned Delivery Vehicle Based on Heuristic Search Algorithm

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2022/1491079/figures/1491079.fig.005a.svgz" name="1491079.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>HSA-JDA association method</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2022/1491079/figures/1491079.fig.005b.svgz" name="1491079.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>DFJCBB association method</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/js/volume-2022/1491079/figures/1491079.fig.005c.svgz" name="1491079.fig.005c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>JCBB association method</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/js/volume-2022/1491079/figures/1491079.fig.005d.svgz" name="1491079.fig.005d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>SCNN association method</td></tr></table>

<div>Association performance of three methods in environment I.</div>

Journal of Sensors

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Figure 5

Figure 5: A Joint Data Association Method for Laser-SLAM of Unmanned Delivery Vehicle Based on Heuristic Search Algorithm 